JP6855580B2 - Gnss受信機保護レベル - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/22—Multipath-related issues
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Description
軌道交差保護レベルの警告限度:5m
軌道上保護レベルの警告限度:10m
フォールト許容時間間隔:5s
フォールト許容時間間隔は、ナビゲーションシステムにおけるフォールトに続いて危険事象が起こる前の、予想される時間間隔である。
パラメータのGNSS測定値を受信するステップと、
パラメータの基準測定値を受信するステップと、
パラメータのGNSS測定値を、パラメータの基準測定値と比較して、パラメータのGNSS測定値における誤差を得るステップと、
GNSS測定値誤差と、GNSS測定品質指標値とから、多変量確率分布モデルを決定するステップと、を含む。
Claims (19)
- 全地球航法衛星システム(GNSS)受信機によって測定されたパラメータに関する、事後誤差確率分布を決定する方法であって、
インターフェイスサブモジュールが、前記パラメータのGNSS測定値に関連する、1つまたは複数のGNSS測定品質指標のそれぞれに関する値を受信するステップと、
プロセッサが、前記または各受信測定品質指標値を、多変量確率分布モデルに入力して、GNSS測定に関する事後誤差確率分布を決定するステップであって、前記多変量確率分布モデルの変量は、前記パラメータに関する誤差と、前記または各測定品質指標とを含む、ステップと、
を含み、
前記多変量確率分布モデルは、多変量確率分布関数であり、前記方法は、
前記プロセッサが、前記多変量確率分布関数を、前記測定品質指標に関して周辺化して、周辺確率分布関数を得るステップと、
前記プロセッサが、前記多変量確率分布関数を、前記周辺確率分布関数を用いて正規化して、条件付き確率分布を得るステップと、
を含む、ことを特徴とする方法。 - 1つまたは複数の前記測定品質指標は、前記GNSS受信機によって受信された1つまたは複数のGNSS衛星信号の信号歪みを示している、ことを特徴とする請求項1に記載の方法。
- 1つまたは複数の前記測定品質指標は、前記GNSS受信機によって受信された1つまたは複数のGNSS衛星信号から導出される、ことを特徴とする請求項1または2に記載の方法。
- 1つまたは複数の前記GNSS測定品質指標は、搬送波対雑音密度、搬送波対雑音密度変動性、搬送波位相分散、マルチパス偏差、ロック損失検出、コードロック時間および位相ロック時間、衛星高度、および衛星方位のうちの1つまたは複数を含む、ことを特徴とする請求項3に記載の方法。
- 1つまたは複数の前記測定品質指標は、1つまたは複数のセンサによって行われた測定から決定される、ことを特徴とする請求項1に記載の方法。
- 前記GNSS受信機により測定された前記パラメータは、GNSS距離測定値である、ことを特徴とする請求項1乃至5のいずれかに記載の方法。
- 前記GNSS受信機により測定された前記パラメータは、擬似距離、ドップラーおよび/または搬送波位相測定値を含む、ことを特徴とする請求項1乃至5のいずれかに記載の方法。
- 前記プロセッサが、測定された前記GNSSパラメータに関する前記事後誤差確率分布を用いて、前記GNSS受信機の位置における不確実性に関する確率分布を推定するステップを含む、ことを特徴とする請求項1乃至7のいずれかに記載の方法。
- 前記プロセッサが、前記GNSS受信機の位置における前記不確実性に関する前記事後誤差確率分布を用いて、保護レベルを計算するステップを含む、ことを特徴とする請求項8に記載の方法。
- 前記プロセッサが、測定された前記GNSSパラメータに関する前記事後誤差確率分布を決定するステップは、前記プロセッサが、以前のGNSSパラメータ測定値と関連する1つまたは複数のGNSS測定品質指標を用いることを含む、ことを特徴とする請求項1乃至9のいずれかに記載の方法。
- 多変量確率分布モデルを得る方法であって、多変量確率分布の変量は、全地球航法衛星システム(GNSS)受信機により測定されたパラメータに関する誤差と、1つまたは複数のGNSS測定品質指標とを含む、方法において、
前記GNSS受信機のプロセッサが、複数の異なる地理的位置に関する、前記GNSS測定品質指標のそれぞれに関する値を、収集するステップを含み、かつ、各地理的位置に関して、
前記プロセッサが、前記パラメータのGNSS測定値を受信するステップと、
前記プロセッサが、前記パラメータの基準測定値を受信するステップと、
前記プロセッサが、前記パラメータのGNSS測定値を、前記パラメータの基準測定値と比較して、前記パラメータのGNSS測定値における誤差を得るステップと、
前記プロセッサが、前記GNSS測定値誤差と、前記GNSS測定品質指標値とから、前記多変量確率分布モデルを決定するステップと、
を含むことを特徴とする方法。 - 前記GNSS受信機は、車両に取り付けまたは収容される、ことを特徴とする請求項11に記載の方法。
- 前記複数の地理的位置は、複数の異なる道路種類を含む、ことを特徴とする請求項11または12に記載の方法。
- ナビゲーションシステムのためのモジュールであって、
パラメータの全地球航法衛星システム(GNSS)測定値と関連する、1つまたは複数の測定品質指標のそれぞれに関する値を受信するためのインターフェイスサブモジュールと、
多変量確率分布モデルを記憶するメモリであって、多変量確率分布の変量は、測定されたGNSSパラメータに関する誤差と、前記または各GNSS測定品質指標とを含むメモリと、
前記メモリと前記インターフェイスサブモジュールとに連結され、前記または各受信測定品質指標値を、前記多変量確率分布モデルに入力することにより、測定された前記GNSSパラメータに関する事後誤差確率分布を決定するように構成されているプロセッサと、
を備え、
前記メモリに記憶されている前記多変量確率分布モデルは、請求項11乃至13のいずれかに記載の方法に従って得られる、ことを特徴とするモジュール。 - 請求項14に記載のモジュールを備える、ことを特徴とする全地球航法衛星システム(GNSS)受信機。
- 車両の動きを制御するための自動運転システムであって、請求項14に記載のモジュールを備える、ことを特徴とする自動運転システム。
- 車両の制御において運転者を支援する、先進運転支援システム(ADAS)であって、請求項14に記載のモジュールを備える、ことを特徴とする先進運転支援システム。
- 請求項16に記載の自動運転システムまたは請求項17に記載の先進運転支援システムを備える、ことを特徴とする車両。
- 1つまたは複数の前記測定品質指標を決定するための、1つまたは複数のセンサを備える、ことを特徴とする請求項18に記載の車両。
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PCT/EP2016/082931 WO2018121879A1 (en) | 2016-12-30 | 2016-12-30 | Gnss receiver protection levels |
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JP6855580B2 true JP6855580B2 (ja) | 2021-04-07 |
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US (2) | US11592578B2 (ja) |
EP (2) | EP3839568A1 (ja) |
JP (1) | JP6855580B2 (ja) |
CN (1) | CN110140065B (ja) |
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US20190339396A1 (en) | 2019-11-07 |
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